Self-adaptive cruise vehicle speed control method and apparatus, vehicle, medium and product

Abstract

The present invention relates to the technical field of automobiles, and in particular to a self-adaptive cruise vehicle speed control method and apparatus, a vehicle, a medium and a product. The method comprises: acquiring motion state information of a vehicle and lane line attribute information of a road ahead; on the basis of the lane line attribute information, calculating a first road curvature of lane lines of the road ahead, and, on the basis of the motion state information, calculating a second road curvature of lane lines of a road where the vehicle is currently located; and determining a motion trajectory curvature of the vehicle on the basis of the first road curvature and the second road curvature, and controlling the self-adaptive cruise vehicle speed of the vehicle on the basis of the motion trajectory curvature. Therefore, the present invention solves the problems of degradation of the use experience of users, decrease of vehicle driving safety, etc. in the prior art which are caused by failures in adjusting vehicle speeds to safe vehicle speeds in real time on the basis of motion state information of the vehicles to ensure the stability of the vehicles since the vehicles are usually controlled to drive at fixed cruise vehicle speeds.

Description

Adaptive cruise vehicle speed control method and device, vehicle, medium and product

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202410635610.2, filed on May 22, 2024, and claims priority to the Chinese patent application, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of automotive technology, and in particular to an adaptive cruise vehicle speed control method, device, vehicle, medium and product. BACKGROUND

[0004] In recent years, with the vigorous development of intelligentization in the field of automobiles and transportation, the automatic driving technology has developed to L3 level, which can recognize target information such as lane lines and obstacles through sensor fusion such as cameras, millimeter wave radars, laser radars and HAD-Map in high-level driving assistance systems, and perform perception planning and decision execution to realize auxiliary driving of vehicles.

[0005] In the related art, the full-speed adaptive cruise system is usually used for auxiliary driving. After the driver sets a certain cruise speed, the vehicle will travel at the cruise speed. However, when the vehicle turns or changes lanes, the vehicle speed needs to be controlled manually. However, in the related art, when the vehicle turns or changes lanes, the vehicle cannot adjust the vehicle to a safe speed in real time according to the motion state information of the vehicle to ensure the stability of the vehicle, thereby reducing the user experience and the safety of vehicle driving.

[0006] SUMMARY

[0007] The present application provides an adaptive cruise vehicle speed control method, device, vehicle, medium and product to solve the problem that in the related art, a fixed cruise speed is usually used to control vehicle driving, which easily leads to the problem that the vehicle cannot adjust the vehicle to a safe speed in real time according to the motion state information of the vehicle to ensure the stability of the vehicle, thereby reducing the user experience and the safety of vehicle driving.

[0008] The first aspect of the present application provides an adaptive cruise vehicle speed control method, comprising the following steps: obtaining motion state information of a vehicle and lane line attribute information of a front road; calculating a first road curvature of the lane line of the front road according to the lane line attribute information, and calculating a second road curvature of the lane line of the current road where the vehicle is located according to the motion state information; determining a motion trajectory curvature of the vehicle according to the first road curvature and the second road curvature, and controlling an adaptive cruise vehicle speed of the vehicle based on the motion trajectory curvature.

[0009] Optionally, in an embodiment of the present application, the first road curvature of the road lane ahead is calculated according to the lane line attribute information, comprising: determining the recognized state of the road lane ahead according to the lane line attribute information; if the recognized state of the road lane ahead is a first state, the first road curvature is a preset curvature; if the recognized state of the road lane ahead is a second state, the curvature absolute value and the curvature change rate absolute value of the lane line in the lane line attribute information are identified, and the first road curvature is calculated based on at least one of the curvature absolute value, the curvature change rate absolute value, the longitudinal vehicle speed, the front preview time and the front preview distance of the driver.

[0010] Optionally, in an embodiment of the present application, the second road curvature of the road lane where the vehicle is currently located is calculated according to the motion state information, comprising: identifying the longitudinal vehicle speed, the front wheel steering angle, the vehicle wheelbase, the lateral acceleration, the right rear wheel speed, the left rear wheel speed and the rear wheel track in the motion state information; if the longitudinal vehicle speed is less than or equal to a preset first speed threshold, the second road curvature of the road lane where the vehicle is currently located is determined based on the front wheel steering angle and the vehicle wheelbase; if the longitudinal vehicle speed is greater than a preset second speed threshold, the second road curvature of the road lane where the vehicle is currently located is determined based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed, wherein the second speed threshold is greater than the first speed threshold; if the longitudinal vehicle speed is greater than the first speed threshold and less than or equal to the second speed threshold, the motion state information of the vehicle is reacquired.

[0011] Optionally, in an embodiment of the present application, the second road curvature of the road lane where the vehicle is currently located is determined based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed, comprising: calculating the first term yaw rate of the vehicle based on the right rear wheel speed, the left rear wheel speed and the rear wheel track; calculating the second term yaw rate of the vehicle based on the lateral acceleration and the longitudinal vehicle speed; calculating the final yaw rate of the vehicle based on the first term yaw rate and the second term yaw rate, and determining the second road curvature of the road lane where the vehicle is currently located based on the final yaw rate.

[0012] Optionally, in an embodiment of the present application, the adaptive cruise speed of the vehicle is controlled based on the motion trajectory curvature, comprising: determining the first target safety speed of the vehicle according to the motion trajectory curvature; determining the second target safety speed of the vehicle according to the recognized state of the following target; taking the smaller value of the first target safety speed and the second target safety speed as the expected safety speed, and controlling the adaptive cruise speed of the vehicle based on the expected safety speed.

[0013] Optionally, in an embodiment of the present application, the second target safe speed of the vehicle is determined according to the identified state of the follow-up target, including: if the identified state of the follow-up target is the third state, the second target safe speed is the speed of the follow-up target; if the identified state of the follow-up target is the fourth state, the second target safe speed is the preset safe speed.

[0014] An embodiment of the second aspect of the present application provides a self-adaptive cruise speed control device, including: an acquisition module, configured to acquire motion state information of a vehicle and lane line attribute information of a front road; a calculation module, configured to calculate a first road curvature of a lane line of the front road according to the lane line attribute information, and calculate a second road curvature of a lane line on which the vehicle currently locates according to the motion state information; and a determination module, configured to determine a motion trajectory curvature of the vehicle according to the first road curvature and the second road curvature, and control a self-adaptive cruise speed of the vehicle based on the motion trajectory curvature.

[0015] Optionally, in an embodiment of the present application, the calculation module is further configured to determine an identified state of the lane line of the front road according to the lane line attribute information; when the identified state of the lane line of the front road is the first state, the first road curvature is a preset curvature; and when the identified state of the lane line of the front road is the second state, the calculation module is further configured to identify a curvature absolute value and a curvature change rate absolute value of the lane line in the lane line attribute information, and calculate the first road curvature based on at least one of the curvature absolute value, the curvature change rate absolute value, a longitudinal speed of the vehicle, a front preview time of a driver and a front preview distance.

[0016] Optionally, in an embodiment of the present application, the calculation module is further configured to identify a longitudinal speed, a front wheel steering angle, a vehicle wheelbase, a lateral acceleration, a right rear wheel speed, a left rear wheel speed and a rear wheel track in the motion state information; when the longitudinal speed is less than or equal to a preset first speed threshold, the calculation module is further configured to determine the second road curvature of the lane line on which the vehicle currently locates based on the front wheel steering angle and the vehicle wheelbase; when the longitudinal speed is greater than a preset second speed threshold, the calculation module is further configured to determine the second road curvature of the lane line on which the vehicle currently locates based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal speed, wherein the second speed threshold is greater than the first speed threshold; and when the longitudinal speed is greater than the first speed threshold and less than or equal to the second speed threshold, the calculation module is further configured to re-acquire the motion state information of the vehicle.

[0017] Optionally, in an embodiment of the present application, the calculation module is further configured to calculate a first term yaw angular velocity of the vehicle based on the right rear wheel speed, the left rear wheel speed and the rear wheel track, calculate a second term yaw angular velocity of the vehicle based on the lateral acceleration and the longitudinal speed, calculate a final yaw angular velocity of the vehicle based on the first term yaw angular velocity and the second term yaw angular velocity, and determine the second road curvature of the lane line on which the vehicle currently locates based on the final yaw angular velocity.

[0018] Optionally, in an embodiment of the present application, the determining module is further configured to determine a first target safety speed of the vehicle according to the curvature of the motion trajectory; determine a second target safety speed of the vehicle according to the identified state of the following target; and determine the expected safety speed as the smaller one of the first target safety speed and the second target safety speed, and control the adaptive cruise speed of the vehicle based on the expected safety speed.

[0019] Optionally, in an embodiment of the present application, the determining module is further configured to, when the identified state of the following target is the third state, determine the second target safety speed as the speed of the following target; and when the identified state of the following target is the fourth state, determine the second target safety speed as the preset safety speed.

[0020] An embodiment of the third aspect of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the adaptive cruise speed control method as above.

[0021] An embodiment of the fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program or instructions, which are executed to implement the adaptive cruise speed control method as above.

[0022] An embodiment of the fifth aspect of the present application provides a computer program product having stored thereon a computer program or instructions, which are executed to implement the adaptive cruise speed control method as above.

[0023] Thus, the present application includes the following beneficial effects:

[0024] The embodiment of the present application calculates the curvature of the motion trajectory of the adaptive cruise system vehicle when changing lanes or the vehicle when turning left or right at an intersection according to the lane line identification information of the multiple sensors and the motion state information of the vehicle, and automatically adjusts the safety speed in real time according to the limitation of the maximum safety speed by the curvature of the motion trajectory, so as to achieve the purpose of safely completing lane changing or turning, improve the safety of driving and the user experience, and optimize the system performance of the adaptive cruise system when changing lanes or turning. Thus, the problems in the related art that the fixed cruise speed is usually used to control the vehicle driving, which easily leads to the inability of the vehicle to adjust the safety speed in real time according to the motion state information of the vehicle to ensure the stability of the vehicle, thereby reducing the user experience and the safety of vehicle driving, and other problems are solved.

[0025] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

[0027] Fig. 1 is a flowchart of a method for adaptive cruise vehicle speed control according to an embodiment of the present application;

[0028] Fig. 2 is a flowchart of a method for adaptive cruise vehicle speed control according to an embodiment of the present application;

[0029] Fig. 3 is a block diagram of an adaptive cruise vehicle speed control device according to an embodiment of the present application;

[0030] Fig. 4 is a schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which like reference numbers indicate like elements or elements having the same or similar function. The embodiments described below are examples intended to explain the present application and are not to be understood as limiting the present application.

[0032] An adaptive cruise vehicle speed control method, device, vehicle, medium and product according to embodiments of the present application are described below with reference to the accompanying drawings. In view of the problem that the vehicle is controlled to travel using a fixed cruise vehicle speed in the background art, which can cause the vehicle to fail to adjust the vehicle to a safe vehicle speed in real time according to the motion state information of the vehicle to ensure the stability of the vehicle, thereby reducing the user experience and the safety of the vehicle, the present application provides an adaptive cruise vehicle speed control method. In the method, the motion state information of the vehicle and the lane line attribute information of the front road are obtained; the first road curvature of the lane line of the front road is calculated according to the lane line attribute information, and the second road curvature of the lane line of the current road where the vehicle is located is calculated according to the motion state information; the motion trajectory curvature of the vehicle is determined according to the first road curvature and the second road curvature, and the adaptive cruise vehicle speed of the vehicle is controlled based on the motion trajectory curvature. Thus, the problem that the vehicle is controlled to travel using a fixed cruise vehicle speed in the related art, which can cause the vehicle to fail to adjust the vehicle to a safe vehicle speed in real time according to the motion state information of the vehicle to ensure the stability of the vehicle, thereby reducing the user experience and the safety of the vehicle, etc. is solved.

[0033] Specifically, Fig. 1 is a flowchart of a method for adaptive cruise vehicle speed control according to an embodiment of the present application.

[0034] As shown in Fig. 1, the adaptive cruise vehicle speed control method includes the following steps:

[0035] In step S101, the motion state information of the vehicle and the lane line attribute information of the front road are acquired.

[0036] It should be noted that, as shown in FIG. 2, when the adaptive cruise system has been normally started, the motion state information of the vehicle and the lane line attribute information of the front road are acquired.

[0037] It can be understood that the motion state information of the vehicle includes the steering wheel angle, the vehicle yaw angle, the longitudinal vehicle speed, the front wheel angle, the vehicle wheelbase, the lateral acceleration, the right rear wheel speed, the left rear wheel speed, and the rear wheel track, etc.; the front road refers to the front road of the current lane in which the vehicle travels; and the lane line attribute information includes the form, the clarity, and other parameters of the lane line, etc.

[0038] It should be noted that the specific attributes and definitions of the lane line may vary due to differences in regions, road types, and traffic rules. Therefore, in actual applications, the attribute information of the lane line needs to be determined according to specific circumstances and ensured to comply with relevant traffic regulations and standards.

[0039] It should be noted that in the embodiment of the present application, the lane line attribute information of the front road is acquired in real time through multi-sensor information fusion, and the motion state information of the vehicle is acquired in real time through vehicle body arrangement sensors. The advantage of multi-sensor is that it can fuse and integrate the data of different types of sensors. Through filtering and estimation algorithm, the information of different sensors can be integrated, thereby improving the accuracy and robustness of the acquired information.

[0040] In step S102, the first road curvature of the lane line of the front road is calculated according to the lane line attribute information, and the second road curvature of the lane line of the current road in which the vehicle is located is calculated according to the motion state information.

[0041] It can be understood that, as shown in FIG. 2, the first road curvature refers to the curvature fitting curvature of the curvature of the front road of the current lane in which the vehicle travels, and the second road curvature refers to the virtual road curvature corresponding to the driving track when changing lanes and turning left or right at the road intersection on the lane line of the current road in which the vehicle is located. The embodiment of the present application takes the first road curvature as P1 and the second road curvature as P2 as an example.

[0042] Therefore, in the embodiment of the present application, the virtual curvatures are calculated respectively through the lane line recognition information of the multi-sensor and the motion state information of the vehicle, so that the driving safety hidden danger caused by the steering instability due to the excessive lateral speed of the vehicle when turning can be considered.

[0043] Optionally, in an embodiment of the present application, the first road curvature of the front road lane is calculated according to the lane line attribute information, comprising: determining the recognized state of the front road lane according to the lane line attribute information; if the recognized state of the front road lane is a first state, the first road curvature is a preset curvature; if the recognized state of the front road lane is a second state, the curvature absolute value and the curvature change rate absolute value of the lane line in the lane line attribute information are identified, and the first road curvature is calculated based on at least one of the curvature absolute value, the curvature change rate absolute value, the longitudinal speed of the vehicle, the front preview time of the driver and the front preview distance of the lane line.

[0044] It can be understood that the first state refers to the state that the lane line recognized by the multi-sensor is not clear, for example, the lane line clarity recognized by the multi-sensor is less than 95%, P1 is a preset curvature, which is equal to zero, and is not limited here; the second state refers to the state that the lane line recognized by the multi-sensor is clear; the preview time refers to the time that the vehicle observes and predicts the front lane line in advance during driving; the preview distance is determined by the longitudinal speed of the vehicle and the preview time, and is the basis of curvature fitting, generally, the greater the vehicle speed, the farther the preview distance needs to be, which ensures sufficient reaction time and driving safety. The preview time is set by the person skilled in the art according to the actual situation, which is not specifically set here, and the embodiment of the present application takes the preview time between [0.8s, 1.5s] as an example.

[0045] Specifically, when the recognized state of the front road lane is the second state, and the clarity of the lane line is greater than or equal to 95%, the multi-sensor outputs the curvature absolute value Cur and the curvature change rate absolute value dCur in real time, and the first road curvature P1 is calculated as P1 = 2xCur + 6xdCurxVxXTpreview, wherein Vx is the longitudinal speed of the vehicle; Tpreview is the preview time of the simulated driver between [0.8s, 1.5s], VxXTpreview is the preview distance; and P1 is the first road curvature.

[0046] Optionally, in an embodiment of the present application, the second road curvature of the lane line where the vehicle currently locates is calculated according to the motion state information, comprising: identifying the longitudinal vehicle speed, the front wheel steering angle, the vehicle wheelbase, the lateral acceleration, the right rear wheel speed, the left rear wheel speed and the rear wheel track in the motion state information; if the longitudinal vehicle speed is less than or equal to a preset first speed threshold, determining the second road curvature of the lane line where the vehicle currently locates based on the front wheel steering angle and the vehicle wheelbase; if the longitudinal vehicle speed is greater than a preset second speed threshold, determining the second road curvature of the lane line where the vehicle currently locates based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed, wherein the second speed threshold is greater than the first speed threshold; if the longitudinal vehicle speed is greater than the first speed threshold and less than or equal to the second speed threshold, reacquiring the motion state information of the vehicle.

[0047] It can be understood that the first speed threshold V1 can be 2 m / s, and the second speed threshold V2 can be 3 m / s, which are not limited here; V1 refers to the longitudinal speed threshold without the risk of excessive lateral acceleration of the vehicle; and V2 refers to the longitudinal speed threshold with the risk of excessive lateral acceleration of the vehicle.

[0048] Specifically, first, it is judged whether the longitudinal vehicle speed Vx is greater than a preset first speed threshold V1 = 3 m / s, if the longitudinal vehicle speed of the vehicle is less than or equal to the preset speed threshold V1, the second curvature P2 of the lane where the vehicle currently locates is calculated, and the calculation formula is as follows:

[0049] P2 = θ / L

[0050] Wherein, θ is the front wheel steering angle; and L is the front-rear wheel track of the vehicle.

[0051] Therefore, the embodiment of the present application can calculate the curvature according to the front wheel steering angle and the front-rear wheel track of different vehicle models, thereby being applicable to various vehicle models.

[0052] If the longitudinal vehicle speed of the vehicle is greater than the preset first speed threshold V1, it is judged whether the longitudinal vehicle speed of the vehicle is greater than a preset second speed threshold V2 = 3 m / s; if the longitudinal vehicle speed of the vehicle is less than or equal to the preset second speed threshold V2, the motion state information of the vehicle is reacquired.

[0053] Therefore, in the embodiment of the present application, if the longitudinal vehicle speed of the vehicle is less than or equal to the preset second speed threshold V2, the motion state information of the vehicle is reacquired, thereby increasing the accuracy of adaptive cruise speed calculation.

[0054] Optionally, in an embodiment of the present application, the second road curvature of the lane line on which the vehicle currently locates is determined based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal speed of the vehicle, comprising: calculating a first yaw rate of the vehicle based on the right rear wheel speed, the left rear wheel speed and the rear wheel track; calculating a second yaw rate of the vehicle based on the lateral acceleration and the longitudinal speed; calculating a final yaw rate of the vehicle based on the first yaw rate and the second yaw rate, and determining the second road curvature of the lane line on which the vehicle currently locates based on the final yaw rate.

[0055] Specifically, if the longitudinal speed of the vehicle is greater than the second speed threshold V2, the first yaw rate is calculated based on the right rear wheel speed, the left rear wheel speed and the rear wheel track The second yaw rate is calculated based on the lateral acceleration and the longitudinal speed The final yaw rate is calculated based on the first yaw rate And the second yaw rate Respectively multiplied by the corresponding proportional value So as to reduce the influence of the fluctuation of the yaw rate of the vehicle directly read on the estimation of the road curvature, and further make the estimated second road curvature of the road smooth without fluctuation. The specific calculation formula is:

[0056] Wherein, β is a coefficient, the value range of which can be 0.2-0.8, which is not specifically limited herein; Vrr is the right rear wheel speed of the vehicle; Vrl is the left rear wheel speed of the vehicle; br is the rear wheel track of the vehicle; ay is the lateral acceleration of the vehicle; P2 is the second road curvature; Vx is the longitudinal speed of the vehicle.

[0057] Therefore, in the embodiment of the present application, the virtual road curvature corresponding to the driving track of the vehicle when changing lanes or turning left or right at the road intersection is calculated by acquiring the motion state information of the vehicle, and the accuracy of the adaptive cruise speed calculation is increased.

[0058] In step S103, the motion track curvature of the vehicle is determined based on the first road curvature and the second road curvature, and the adaptive cruise speed of the vehicle is controlled based on the motion track curvature.

[0059] Optionally, in an embodiment of the present application, the adaptive cruise speed of the vehicle is controlled based on the motion track curvature, comprising: determining a first target safety speed of the vehicle based on the motion track curvature; determining a second target safety speed of the vehicle based on the identified state of the following target; taking the smaller one of the first target safety speed and the second target safety speed as the expected safety speed, and controlling the adaptive cruise speed of the vehicle based on the expected safety speed.

[0060] It can be understood that, as shown in FIG. 2, the first target safety vehicle speed can be V_A; the second target safety vehicle speed can be V_B; and the desired safety vehicle speed can be Vdesire.

[0061] Specifically, a larger value of the first road curvature P1 and the second road curvature P2 is taken as the motion trajectory curvature of the vehicle; based on the motion trajectory curvature and a pre-set correspondence between the curvature and the safety vehicle speed, the first target safety vehicle speed V_A of the vehicle is determined, and a smaller value of the first target safety vehicle speed V_A and the second target safety vehicle speed V_B is taken as the desired safety vehicle speed Vdesire, so that the desired safety vehicle speed Vdesire of the vehicle when changing lanes or at an intersection is determined as Vdesire = min(V_A, V_B). The Vdesire is input into a speed-acceleration comfort zone control arbitration module of the vehicle adaptive cruise system, a Vdesire control instruction is calculated and sent to a vehicle bottom layer executive mechanism control unit, and then the safety and accurate control of the vehicle is realized, so as to achieve the purpose of safely and comfortably completing lane changing and turning at the intersection.

[0062] Therefore, in the embodiment of the present application, the final real-time automatically adjusted safety vehicle speed is determined according to the motion trajectory curvature and the restriction of the maximum safety vehicle speed by the following vehicle speed, so that the vehicle safely completes lane changing or turning, the safety of vehicle driving and the user's use experience are improved, and the system performance of the adaptive cruise system when changing lanes and turning is optimized.

[0063] Optionally, in an embodiment of the present application, the second target safety vehicle speed of the vehicle is determined according to the identified state of the following target, comprising: if the identified state of the following target is the third state, the second target safety vehicle speed is the speed of the following target; and if the identified state of the following target is the fourth state, the second target safety vehicle speed is a preset safety vehicle speed.

[0064] It should be noted that the target vehicle information of the front road is acquired by the multiple sensors, including the relative distance, the relative speed, the relative azimuth angle and the relative acceleration of the target vehicle followed in the lane.

[0065] If the multiple sensors identify the effective following target, i.e., the identified state of the following target is the third state, the adaptive cruise system calculates the desired speed Vfollow of the following target, and then the second target safety vehicle speed V_B = Vfollow; if the multiple sensors do not identify the effective following target, i.e., the identified state of the following target is the fourth state, the second target safety vehicle speed V_B of the vehicle = Vset.

[0066] It can be understood that the multiple sensors determine whether it is an effective following target through the acquired target vehicle information, and the determination method is not specifically limited herein, and can be set according to the actual situation by those skilled in the art.

[0067] Therefore, in the embodiment of the present application, the sudden acceleration condition caused by the new following target being recognized and the set cruise speed being relatively large can be avoided, thereby increasing the safety of vehicle driving and the user experience.

[0068] According to the adaptive cruise speed control method provided in the embodiment of the present application, the motion trajectory curvature of the adaptive cruise system vehicle when changing lanes or the vehicle when turning left or right at an intersection is calculated through the information of lane line recognition and the motion state information of the vehicle, and the final real-time automatically adjusted safe speed is determined according to the motion trajectory curvature and the following speed of the vehicle relative to the maximum safe speed, so that the vehicle safely completes lane changing or turning, the safety of vehicle driving and the user experience are improved, and the system performance of the adaptive cruise system when changing lanes or turning is optimized.

[0069] Secondly, the adaptive cruise speed control device provided in the embodiment of the present application is described with reference to the accompanying drawings.

[0070] FIG. 3 is a block schematic diagram of the adaptive cruise speed control device in the embodiment of the present application.

[0071] As shown in FIG. 3, the adaptive cruise speed control device 30 includes an acquisition module 301, a calculation module 302, and a determination module 303.

[0072] The acquisition module 301 is configured to acquire the motion state information of the vehicle and the lane line attribute information of the front road, the calculation module 302 is configured to calculate a first road curvature of the lane line of the front road according to the lane line attribute information and calculate a second road curvature of the lane line of the current road where the vehicle is located according to the motion state information, and the determination module 303 is configured to determine a motion trajectory curvature of the vehicle according to the first road curvature and the second road curvature and control the adaptive cruise speed of the vehicle based on the motion trajectory curvature.

[0073] Optionally, in an embodiment of the present application, the calculation module 302 is further configured to determine the recognized state of the lane line of the front road according to the lane line attribute information, when the recognized state of the lane line of the front road is a first state, the first road curvature is a preset curvature, and when the recognized state of the lane line of the front road is a second state, the curvature absolute value and the curvature change rate absolute value of the lane line in the lane line attribute information are recognized, and the first road curvature is calculated based on at least one of the curvature absolute value, the curvature change rate absolute value, the longitudinal speed of the vehicle, the front preview time of the driver, and the front preview distance.

[0074] Optionally, in an embodiment of the present application, the calculating module 302 is further configured to identify the longitudinal vehicle speed, the front wheel steering angle, the vehicle wheelbase, the lateral acceleration, the right rear wheel speed, the left rear wheel speed and the rear wheel track in the motion state information; determine the second road curvature of the lane line on which the vehicle is currently located based on the front wheel steering angle and the vehicle wheelbase when the longitudinal vehicle speed is less than or equal to a preset first speed threshold; determine the second road curvature of the lane line on which the vehicle is currently located based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed when the longitudinal vehicle speed is greater than a preset second speed threshold, wherein the second speed threshold is greater than the first speed threshold; reacquire the motion state information of the vehicle when the longitudinal vehicle speed is greater than the first speed threshold and less than or equal to the second speed threshold.

[0075] Optionally, in an embodiment of the present application, the calculating module 302 is further configured to calculate a first term yaw rate of the vehicle based on the right rear wheel speed, the left rear wheel speed and the rear wheel track; calculate a second term yaw rate of the vehicle based on the lateral acceleration and the longitudinal vehicle speed; calculate a final yaw rate of the vehicle based on the first term yaw rate and the second term yaw rate, and determine the second road curvature of the lane line on which the vehicle is currently located based on the final yaw rate.

[0076] Optionally, in an embodiment of the present application, the determining module 303 is further configured to determine a first target safe speed of the vehicle according to the motion trajectory curvature; determine a second target safe speed of the vehicle according to the identified state of the following target; take the smaller one of the first target safe speed and the second target safe speed as an expected safe speed, and control the adaptive cruise speed of the vehicle based on the expected safe speed.

[0077] Optionally, in an embodiment of the present application, the determining module 303 is further configured to take the speed of the following target as the second target safe speed when the identified state of the following target is the third state; take a preset safe speed as the second target safe speed when the identified state of the following target is the fourth state.

[0078] It should be noted that the foregoing explanation and description of the adaptive cruise speed control method embodiment are also applicable to the adaptive cruise speed control device of this embodiment, which will not be described here again.

[0079] According to the adaptive cruise vehicle speed control device provided by the embodiment of the application, the lane line recognition information of the multiple sensors and the motion state information of the vehicle are used to calculate the motion trajectory curvature of the adaptive cruise system vehicle when changing lanes or when the vehicle is turning left or right at an intersection, and the motion trajectory curvature and the following speed of the vehicle are used to determine the final real-time automatically adjusted safe speed according to the limitation of the maximum safe speed, so that the vehicle can safely complete lane changing or turning, the safety of vehicle driving and the user experience are improved, and the system performance of the adaptive cruise system when changing lanes or turning is optimized.

[0080] Fig. 4 is a structural schematic diagram of a vehicle provided by the embodiment of the application. The vehicle can include:

[0081] The memory 401, the processor 402 and the computer program stored in the memory 401 and executable on the processor 402.

[0082] The processor 402 implements the adaptive cruise vehicle speed control method provided by the above embodiment when executing the program.

[0083] Further, the vehicle further includes:

[0084] The communication interface 403 is used for communication between the memory 401 and the processor 402.

[0085] The memory 401 is used to store the computer program executable on the processor 402.

[0086] The memory 401 can include a high-speed RAM (Random Access Memory, random access memory) memory, and can also include a non-volatile memory, such as at least one disk memory.

[0087] If the memory 401, the processor 402 and the communication interface 403 are independently implemented, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and complete communication between each other. The bus can be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component, peripheral component interconnect) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in Fig. 4, but it does not mean that there is only one bus or only one type of bus.

[0088] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can complete the communication among each other through an internal interface.

[0089] The processor 402 can be a CPU (Central Processing Unit, central processor) or an ASIC (Application Specific Integrated Circuit, specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.

[0090] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are executed to implement the adaptive cruise vehicle speed control method.

[0091] The embodiments of the present application also provide a computer program product, which stores a computer program or instructions, and the computer program or instructions are executed to implement the adaptive cruise vehicle speed control method.

[0092] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0093] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0094] Any process or method described in a flowchart or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logical functions or steps, and the various embodiments of the application include alternative implementations of the described processes or methods, in which the order of steps can be changed, including the use of simultaneous steps or otherwise, and in which certain steps can be performed concurrently, or in reverse order, depending on the functions involved, which should be apparent to those skilled in the art.

[0095] It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations, can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, etc.

[0096] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium, and when the program is executed, it includes one of the steps of the embodiment method or a combination thereof.

[0097] Although the above has shown and described the embodiments of the present application, it should be understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An adaptive cruise vehicle speed control method, characterized by, The method comprises the following steps: acquiring motion state information of a vehicle and lane line attribute information of a front road; calculating a first road curvature of the lane line of the front road according to the lane line attribute information and a second road curvature of the lane line of the current road where the vehicle is located according to the motion state information; determining a motion trajectory curvature of the vehicle according to the first road curvature and the second road curvature and controlling an adaptive cruise speed of the vehicle based on the motion trajectory curvature.

2. The adaptive cruise control method according to claim 1, wherein, The calculation of the first road curvature of the lane line of the front road according to the lane line attribute information comprises: determining a recognized state of the lane line of the front road according to the lane line attribute information; if the recognized state of the lane line of the front road is a first state, the first road curvature is a preset curvature; if the recognized state of the lane line of the front road is a second state, the absolute value of the curvature of the lane line and the absolute value of the change rate of the curvature in the lane line attribute information are identified, and the first road curvature is calculated based on at least one of the absolute value of the curvature, the absolute value of the change rate of the curvature, the longitudinal vehicle speed of the vehicle, the front preview time of the driver and the front preview distance.

3. The adaptive cruise control method according to claim 1, wherein, The calculation of the second road curvature of the lane line of the current road where the vehicle is located according to the motion state information comprises: identifying the longitudinal vehicle speed, the front wheel steering angle, the vehicle wheelbase, the lateral acceleration, the right rear wheel speed, the left rear wheel speed and the rear wheel track in the motion state information; if the longitudinal vehicle speed is less than or equal to a preset first speed threshold, the second road curvature of the lane line of the current road where the vehicle is located is determined based on the front wheel steering angle and the vehicle wheelbase; if the longitudinal vehicle speed is greater than a preset second speed threshold, the second road curvature of the lane line of the current road where the vehicle is located is determined based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed, wherein the second speed threshold is greater than the first speed threshold; if the longitudinal vehicle speed is greater than the first speed threshold and less than or equal to the second speed threshold, the motion state information of the vehicle is re-acquired.

4. The adaptive cruise control method according to claim 3, wherein The determination of the second road curvature of the lane line of the current road where the vehicle is located based on the right rear wheel speed, the left rear wheel speed, the rear wheel track, the lateral acceleration and the longitudinal vehicle speed comprises: calculating a first yaw angular speed of the vehicle based on the right rear wheel speed, the left rear wheel speed and the rear wheel track; calculating a second yaw angular speed of the vehicle based on the lateral acceleration and the longitudinal vehicle speed; calculating a final yaw angular speed of the vehicle based on the first yaw angular speed and the second yaw angular speed and determining the second road curvature of the lane line of the current road where the vehicle is located based on the final yaw angular speed. The control of the adaptive cruise speed of the vehicle based on the motion trajectory curvature comprises:

5. The adaptive cruise control method according to claim 1, wherein, determining a first target safety speed of the vehicle according to the motion trajectory curvature; determining a second target safety speed of the vehicle according to the recognized state of the following target. ​ The smaller one of the first target safe vehicle speed and the second target safe vehicle speed is taken as a desired safe vehicle speed, and adaptive cruise vehicle speed of the vehicle is controlled based on the desired safe vehicle speed.

6. The adaptive cruise control method according to claim 5, wherein, The second target safe vehicle speed of the vehicle is determined according to the identified state of the following target, and the method comprises: If the identified state of the following target is the third state, the second target safe vehicle speed is the vehicle speed of the following target; If the identified state of the following target is the fourth state, the second target safe vehicle speed is a preset safe vehicle speed.

7. An adaptive cruise vehicle speed control device characterized by comprising: The method comprises: An acquisition module is configured to acquire motion state information of a vehicle and lane line attribute information of a front road; A calculation module is configured to calculate a first road curvature of a lane line of the front road according to the lane line attribute information, and calculate a second road curvature of a lane line of a road currently traveled by the vehicle according to the motion state information; A determination module is configured to determine a motion trajectory curvature of the vehicle according to the first road curvature and the second road curvature, and control adaptive cruise vehicle speed of the vehicle based on the motion trajectory curvature.

8. A vehicle characterized by comprising: The method comprises: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the adaptive cruise vehicle speed control method of any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The computer program or instructions are executed to implement the adaptive cruise vehicle speed control method of any one of claims 1-6.

10. A computer program product having stored thereon a computer program or instructions, characterized in that, The computer program or instructions are executed to implement the adaptive cruise vehicle speed control method of any one of claims 1-6.

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